Verifying stereo vision using structure from motion

The medical radiation treatment facility at iThemba Labs requires a precise
and robust patient positioning system. The current system makes use of an
accurately calibrated multi-camera stereophotogrammetry (SPG) setup that
is vulnerable to physical disruptions that invalidate system calibration. The
task in this thesis is to design a vision system that can be used to verify
the correct operation of the SPG system. We propose an unscented Kalman
filter (UKF) based structure from motion (SFM) system for this purpose. Our
SFM system does not rely on calibration information used by the SPG system
and provides accurate reconstruction for verification purposes. The system is
critically evaluated against a set of synthetic and real motion sequences.